Chain guide sensor and methods of controling a bicycle

ABSTRACT

A gear change mechanism for a bicycle may involve a tensioner that has a wheel engaged with a chain in a bicycle drivetrain. This tensioner may be configured to rotate or otherwise change orientation in response to slack in the chain to maintain tension in the chain. A sensor may be used to measure the orientation of a tensioner of a chain in a bicycle drivetrain, and/or the physical orientation of components indicative thereof. Actions may be triggered by signals generated by the sensor.

This application is a continuation of U.S. patent application Ser. No.14/992,651, filed Jan. 11, 2016, the contents of which are hereinincorporated in their entirety.

BACKGROUND OF THE INVENTION

A traditional bicycle may involve the use of a combination of differentsized gears, sprockets, and/or cogs, in combination with a chainoriented thereon, to provide for a range of gearing for a rider. Thechain is generally guided to the various gearing combinations by a gearchange mechanism, such as one or more derailleurs.

An indication of the state of a gear combination and/or generalengagement of the chain may be needed to provide information for anelectronic, mechanical, and/or electro-mechanical shift operation of theone or more derailleurs. In a mechanical system a rider may be requiredto visually identify a gear combination and/or general engagement of thechain by looking at the particular sprockets that are engaged or notengaged. Alternatively, in an electrical and/or electromechanical systemthe gear combination and/or general engagement of the chain may beinferred or implied based on a measured output or orientation of a motorshaft, or an elapsed time since a shift command was provided to a motor.These techniques may be inconvenient and/or not provide an accurateindication of the actual orientation of the chain due to missed shiftactions or other error events that may occur in bicycle transmissionsystems.

SUMMARY

In an embodiment, a method of controlling a component of a bicyclehaving a plurality of gears engageable by a roller chain is provided.The method includes receiving, by a processor, an instruction for anaction by the component. The method also includes determining, by theprocessor, an orientation of a chain tensioner cage, establishing, bythe processor, an engaged gear of the plurality of gears based on theorientation, and detecting, by the processor with the sensor, a changeof the orientation of the chain tensioner cage to a differentorientation. The method also includes comparing, by the processor, thedifferent orientation to a collection of orientations, determining, bythe processor, a newly engaged gear of the plurality of gears based onthe comparing; and causing, by the processor, the component to performthe action in response to the determining the newly engaged gear.

In an embodiment, a control system for a bicycle having a plurality ofcomponents is provided. The control system includes a memory configuredto store a collection of orientations associated with gears of aplurality of gears, and a sensor operable to provide a signal indicatingan orientation of a bicycle chain tensioner. The control system alsoincludes a processor, in communication with the sensor. The processor isconfigured to compare an indicated orientation with the collection oforientations and verify that a gear change has occurred, and cause acomponent of the bicycle to take an action when a gear change isverified.

In an embodiment, a bicycle component including a non-transitorycomputer readable medium is provided. The medium includes instructionsthat when executed are operable to cause a processor to determine anorientation of a chain tensioner cage based on a sensor signal,establish an engaged gear of a plurality of gears based on theorientation, and detect a change of the orientation of the chaintensioner cage to a different orientation using the sensor. Theinstructions are also operable to cause the processor to compare thedifferent orientation to a collection of orientations, determine a newlyengaged gear of the plurality of gears based on the comparing, and causethe component to perform the action in response to the determinationthat there is a newly engaged gear.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a side view of a bicycle, which may be used to employ a chainguide angle sensor;

FIG. 2 illustrates cogs of a drivetrain, such as the drivetrain for thebicycle of FIG. 1;

FIG. 3 is a side view of a rear gear changer, such as the rear gearchanger of FIG. 1;

FIG. 4A is a side view of the gear changer of FIG. 3, from an opposingperspective;

FIGS. 4B-C illustrate chain guides that may be used with the gearchanger of FIG. 3, from the opposing perspective of FIG. 4A;

FIG. 5 is a cross sectional view of a chain guide and moveable member ofthe rear gear changer of FIG. 4A, with which an angle sensor may beimplemented;

FIGS. 6A-6D illustrate various chain configurations for the bicycledrivetrain of FIG. 2;

FIG. 7 is a flowchart diagram of a method of controlling a bicycle;

FIGS. 8-11 are flowchart diagrams of embodiments for methods ofcontrolling a bicycle; and

FIG. 12 is a block diagram of an embodiment of a control unit.

Other aspects and advantages of the embodiments disclosed herein willbecome apparent upon consideration of the following detaileddescription, wherein similar or identical structures have similar oridentical reference numerals.

DETAILED DESCRIPTION

Different gearing combinations and/or chain engagements may involvedifferent chain lengths and tensions, as the gearing combinationsinvolve various sizes of gears and/or sprockets. Tension is maintainedin the chain through the different chain lengths through a tensioningdevice, which may be integrated with a gear change mechanism, such as aderailleur. The tensioning device is configured to interact directlywith the chain, such as with a wheel that engages the chain. Theorientation of the tensioning device may be indicative of particulargearing combinations and/or chain engagements.

A sensor may be used to measure the orientation of the tensioner, and/orthe physical orientation of components indicative thereof. For example,a gear change mechanism for a bicycle may involve a tensioner that has awheel engaged with the chain. This tensioner may be configured to rotateor otherwise change orientation in response to slack in the chain tomaintain tension in the chain. As such, the orientation of the wheel, asmay be indicated by a specific angle of rotation of the tensionerdevice, is indicative of the current length of chain required to engagethe current combination of gears. Therefore, this orientation and/orangular measure, or changes therein, indicate the specific currentgearing combination of the chain. Further, if the chain loses engagementwith the gearing combinations, such as by a dropped or broken chain, theorientation and/or angular measure will indicate this chain state aswell.

Signals of the orientation and/or angle sensor may be used for variousactions and/or activities. The signals may be communicated to aprocessor and/or controller to facilitate the actions and/or activities.For example, the signal may be interpreted by a controller to determinea specific current gearing configuration for the chain, and thecontroller may communicate commands to other components, such as motorsand/or displays, to take actions based on the received signals from theorientation and/or angle sensor.

FIG. 1 generally illustrates a bicycle 100 with which one or more chainguide orientation and/or angle sensors may be used. The bicycle 100includes a frame 38, front and rear wheels 79, 78 rotatably attached tothe frame 38, and a drivetrain 70. A front brake 90 is provided forbraking the front wheel 79 and a rear brake 91 is provided for brakingthe rear wheel 78. The front and/or forward orientation of the bicycle100 is indicated by the direction of arrow “A.” As such, a forwarddirection of movement for the bicycle is indicated by the direction ofarrow A.

While the illustrated bicycle 100 is a road bike having drop-stylehandlebars 22, the present invention has applications to bicycles of anytype, including fully or partially suspensioned mountain bikes andothers, as well as bicycles with mechanically controlled (e.g. cable,hydraulic, pneumatic) and non-mechanical controlled (e.g. wired,wireless) drive systems.

The bicycle 100 may include one or more shift units 26, mounted to thehandlebars 22. One or more control units 28 may also be included, and isshown mounted to the handlebars 22. In other embodiments one or morecontrol units may be integrated with other bicycle components, and astand-alone control unit may or may not be provided. A front gearchanger or front gear shift mechanism 30, such as a front derailleur,may be positioned on the seat tube 32 adjacent the front sprocketassembly 34 so as to effect gear changes to the front sprockets or anassociated structure. A rear gear changer or rear gear shift mechanism36, such as a rear derailleur, is mounted to a member of the frame 38 ofthe bicycle, such as a mount, rear dropout, and/or an associatedstructure, in a position to effect gear changes in a rear sprocketassembly 40. A communication link 42 may be provided between the controlunit 28, the shift units 26, the front gear changer 30, the rear gearchanger 36, or any combination thereof. Alternatively, no stand-alonecontrol unit 28 is provided and the shift units 26 communicate with thefront gear changer 30 and/or the rear gear changer 36 directly using thecommunication link 42, or other means. As such, one or more controlunits 28, or components thereof, may be integrated with the shift units26, the front gear changer 30, the rear gear changer 36, or anycombination thereof. The system may also be applied, in someembodiments, to a bicycle where only a front or only a rear gear changeris used.

The control unit 28 is shown mounted to the handlebar 22, but could belocated anywhere on the bicycle 24 or, alternatively, control unit 28components may be distributed among the various components with routingof the communication link 42 to accommodate the necessary signal andpower paths. It would also be possible to locate the control unit 28other than on the bicycle, for example on the user's wrist or in ajersey pocket. The communication link 42 could include wires or bewireless, or be a combination thereof. In an embodiment, the controlunit 28 is integrated with some or all of the shift units 26, the frontgear changer 30, and the rear gear changer 36 to communicate controlcommands between components. The control unit 28 may include aprocessor, a memory, and one or more communication interfaces, forexample as is described further below with respect to FIG. 12. More orfewer components may be included in the control unit 28.

The drivetrain 70 comprises a chain 72, the front sprocket assembly 34,which is coaxially mounted with a crank 74 having pedals 76, and thefront gear change mechanism 30, such as a derailleur which may beelectrically controlled. The drivetrain also includes the rear sprocketassembly 40 coaxially mounted with the rear wheel 78, and the rear gearchange mechanism 36, such as a rear derailleur that may be electricallycontrolled.

As is illustrated in FIG. 2 (and also referring to FIG. 1) the frontsprocket assembly 34 may include two coaxially mounted chain rings,gears or sprockets F1-F2, and rear sprocket assembly 40 may include tengears, cogs or sprockets R1-R10. The number of teeth on front sprocketF1 is preferably less than the number of teeth on sprocket F2. The rearsprocket assembly 40 may include rear sprockets R1-R10. The numbers ofteeth on rear sprockets R1-R10 typically gradually decrease from rearsprocket R1 to sprocket R10. Front gear changer 30 moves from a firstoperating position to a second operating position to move the chain 72between sprockets F1 and F2, and the rear gear changer 36 moves betweenten operating positions to switch the chain to one of rear sprocketsR1-R10. Preferably, a front gear position sensor 112 is used to sensethe operating position of the front gear changer 30, and a rear gearposition sensor 114 is used to sense the operating position of the reargear changer 36. Position sensors 112, 114 may comprise rotary encoders,potentiometers, or other devices capable of sensing position in a gearchange mechanism. The position sensors 112, 114 may be any sensor, orcombination of sensors, operable to provide information relating to thetarget gearing combination and/or chain engagement. In an embodiment,the position of a tensioner integrated with a gear change mechanism isdetermined relative to other components of the gear change mechanism.For example an angle of a chain guide rotatable relative to a horizontalor other reference may be determined by a position sensor, such as thesensor 200 of FIG. 5. In an embodiment one or both of the positionsensors 112, 114 may be the angle sensor 200. In another embodiment, theposition sensors 112, 114 may be used in addition to the angle sensor200.

As is shown in FIG. 3 with respect to the rear gear changer 36, a powersupply 84, such as one or more batteries and/or another power source,may power the rear and/or front gear changers 36, 30 as well as otherelectric components within the system. The power supply 84 may also belocated in other positions, such as attached to the frame 38 as shown inFIG. 1. Further, multiple power supplies may be provided, which maycollectively or individually power the electric components of thesystem, such as a drive motor for an embodiment involving anelectrically powered bicycle. In an embodiment, a battery 84 may beconfigured to be attached directly to a rear derailleur, and providepower only to the components of the derailleur, as is indicated in FIGS.3 and 4.

FIGS. 3 and 4A show the rear gear changer 36. The rear gear changer 36preferably includes a base member 144 mounted to the bicycle frame 38, alinkage or link mechanism 146 pivotably connected to the base member144, and a movable member 148 pivotably mounted to the link mechanism146 so that the movable member 148 moves laterally relative to the basemember in accordance with the operation of a motor. The link mechanism146 may include any number of links, for example two links may be used.In such an embodiment, the link mechanism 146 may be configured suchthat the base member 144 functions as one bar of a four-bar linkage. Thelinkage includes a first link 145 and a second link 147, which are eachpivotally connected to base member 144 and make up two more of the fourbars in the linkage. The moveable member 148 completes the four-barlinkage by pivotally connecting to the first link and the second link.

The movable member 118 may house the motor and gear mechanism 106 ortransmission. The motor and gear mechanism 106 may be coupled with thelink mechanism 146 to provide movement of the movable member 148.Movable member 148 pivotably supports a chain interface structure, suchas a chain guide 150, so that lateral movement of the movable memberswitches the chain 72 among the rear sprockets 40 (R1-R10).

The chain guide 150 may include a tensioning device 151 or tensionerthat includes a tensioner chain contact such as a wheel 152 or atensioner wheel, which may be placed in contact with the chain 72. Thewheel 152 may have one or more teeth 153 configured to interact with thechain such that the wheel 152 rotates as the teeth 153 move with thechain. The wheel 152 may be configured to rotate about a wheelrotational axis 217 to maintain the chain interaction. The wheel 152 maybe configured to rotate about two different axis of rotations. The wheel152 and/or wheel rotational axis 217 may be distanced from a tensioner,or pivot, rotational axis 215 by a positioning member, which may be arigid member 154 such as a cage member, of the chain guide 150, as such,the tensioner rotational axis 215 may be a first axis of rotation andthe wheel rotational axis 217 may be a second axis of rotation. Therigid member may be biased by a biasing device 231, such as a springshown in FIG. 5, to maintain tension in the chain through the wheelcontact 152. The chain guide 150 may also include a second wheel 156,such as a guide wheel, that is a rotatably attached component of thechain guide 150. The second wheel 156 is configured to interact with thechain and direct the chain to the various sprockets of the rear sprocketassembly 40. The position of the second wheel 156 may be based on aposition of the moveable member 148.

FIGS. 4B and 4C illustrate chain guides 150 that may be used with theangle and/or orientation sensor as described herein. The second wheel156 of the chain guide 150 may be configured such that the tensioneraxis 215 is the axis of rotation 218 for the second wheel 156, as isillustrated in FIG. 4B. In alternate embodiments, the second wheel 156may operate on a third rotational axis which is an axis of wheelrotation 218 that is separate and distinct from the tensioner axis 215,such as is illustrated in FIG. 4C. In these embodiments, the secondwheel will be located a distance away from the tensioner axis 215 androtate about both the tensioner axis 215 and this separate and distinctaxis of wheel rotation 218. The distance separating the first wheelrotational axis 217 from the tensioner axis 215 and the distanceseparating the second wheel rotational axis 218 from the tensioner axismay be the same or different. For example, in an embodiment, as is shownin FIG. 4C, the distance separating the first wheel rotational axis 217from the tensioner axis 215 is larger than the distance separating thesecond wheel rotational axis 218 from the tensioner axis.

The movable member 148 may also have attached and/or house a sensor 200,such as an angle sensor, configured to determine an orientation and/orangle of the chain guide 150 relative to the movable member 148. Thesensor 200 may be fixably mounted to the movable member 148, as is shownin FIG. 5, or in other configurations. For example, the sensor 200 maybe disposed on the chain guide 150 and/or the frame 38. The output ofthe sensor 200 may be any output operable to provide a signal indicativeof the determined angle. For example, the output may be a raw measurablephysical reading, such as a voltage, which may be communicated as anoutput signal. In an embodiment, the sensor 200 may include an encoderconfigured to translate the physical reading into a coded value, such asbinary value, which may be communicated as an output signal. Forexample, the signal may be communicated as an 8-bit binary value thatindicates the angle.

The orientation and/or angle of the chain guide 150 may be determinedbased on an angle of the chain guide 150 relative to a reference plane219. The reference plane 219 may be any reference plane operable toprovide a consistent reference for a relative orientation of the chainguide 150. In an embodiment, the reference plane 219 is at a fixedorientation relative to the moveable member 148. For example, thereference plane 219 may be a horizontal plane fixed relative to themoveable member 148 such that the reference plane 219 and the moveablemember 148 move together when the moveable member 148 is moved. As such,an angle of the chain guide 150 relative to the reference plane 219 isan angle of the chain guide 150 relative to the moveable member 148. Inan embodiment, the orientation and/or angle of the chain guide 150 mayfurther be defined by the angle of rotation 211 from the reference plane219 to a line 213 drawn between the tensioner axis 215 through thetensioner wheel rotational axis 217.

FIG. 5 illustrates a sectional view of the moveable member 148, a pivotmember 210, and the chain guide 150 of the rear derailleur 36 of FIGS.1-4 taken at 5-5. The moveable member 148 is a pivot or tensioner mount.As shown in FIG. 5, the sensor 200 is disposed in and/or on the moveablemember 148 and detects the rotational orientation of a magnet 202mounted on an end 212 of a pivot or pivot member 210. The pivot member210 is pivotably mounted to the movable member 150, and fixably mountedto the chain guide 150. For example, a pin 214, clip, and/or otherattachment device may connect the moveable member 148 to the pivotmember 210 through an annular slot 212 formed around and/or in the pivotmember 210. As such, the pivot member 210 and attached chain guide 150can rotate about the pivot axis 215 relative to the moveable member 148.Also, the pivot member 210 may be fixably attached to the chain guide150 through any technique. For example, the pivot member 210 may beattached to the chain guide 150 through an interference, press-fit,adhesive based, or other assembly technique. The sensor 200 can measurean angle of rotation 211 of the pivot member 210, and consequently theattached chain guide 150, by measuring the orientation and/or angle ofthe magnet 202 relative to the sensor 200 that remains stationary andfixed to the movable member 148 relative to the pivot member 210.

The sensor 200 may be communicatively coupled and/or affixed to aprinted circuit board 204 or other material which may in turn be securedto the moveable member 148. The printed circuit board 204 and/or themoveable member 148 may be configured such that the sensor 200 isaligned within a sensing range of the magnet 202 when the magnet isdisposed on the pivot member 210. The circuit board 204 may containother processing and/or communication circuitry as is described herein,for example with respect to FIG. 12. As such, the sensor 200 and/or theprinted circuit board 204 may be configured to communicate with acontrol unit located external and/or independent of the moveable member148 and/or the rear derailleur. Alternatively, the sensor 200 and/orprinted circuit board 204 may be configured to communicate with acontrol unit 28 located on or in the moveable member 148, as is shown inFIG. 5. For example, a control unit 28 may be connected to, or installedon, the moveable member 148, and the sensor 200 may be communicativelycoupled to the control unit 28 such that signals indicative of theorientation and/or angle of the chain guide are communicated between thesensor 200 to the control unit 28. The control unit 28 may be a controlunit specifically configured to control the rear derailleur and/orcommunicate with other components of the bicycle. For example, thecontrol unit 28 may be configured to provide commands and/orinstructions to a motor coupled with a linkage or link mechanismconfigured to move the moveable member 148, as is described with respectto FIGS. 3 and 4A. The sensor may alternatively, or additionally, beconfigured to communicate with control units located external to themoveable member and/or the rear derailleur.

In an embodiment, the pivot member 210 and a chain interface structure,such as the chain guide 150, may be attached to a pivot or tensionermount without being attached to a derailleur. For example, the pivotmount may be attached to a frame of a bicycle, and be configured tointeract with a chain of the bicycle to maintain a tension in the chain,as is described herein. The sensor 200 may be configured to determine anangle of the chain interface structure 150 as is described herein withrespect to tensioner mechanisms and/or chain guides attached toderailleurs.

As shown in the embodiment illustrated in FIG. 5, the sensor 200 is amagnetic rotary encoder such as an AS5030 8-Bit Programmable High SpeedMagnetic Rotary Encoder offered by AM AG, however, the sensor may be anytype of sensor operable to provide an orientation or angle of the chainguide 150. For example, optical, mechanical, electromagnetic,capacitive, inductive, Doppler effect, radar, Eddy-current, laser,acceleration, thermal, Hall effect, gyroscopic, as well as othersensors, or combinations thereof, may be used.

The second wheel 156 may be rotatably secured by a pinion 216, such as athreaded screw or bolt, which is disposed co-axially with the pivotmember 210 along the tensioner or pivot axis 215. In an embodiment, thepinion 216 may be threadably secured within a threaded vacancy or holeof the end of the pivot member 216. The tensioner wheel 152 may also berotatably secured by a pinion 222, such as a screw or bolt, to the rigidmember 154 such that the tension wheel rotates about the wheel rotationaxis 217 which is positioned apart from the tensioner or pivot axis 215by the rigid member 154.

FIGS. 6A-6D illustrate various orientations of the chain guide 150 fordifferent configurations of the chain 72 on front and rear sprocketassemblies, such as the sprocket assemblies 34, 40 described withrespect to FIG. 2, particularly with respect to the a first and secondwheels 152, 156 of the chain guide. In this illustration, an orientationof the chain guide relative to a reference plane 219 is indicated as theangle of rotation 211, however, in other embodiments the orientationand/or angle of the chain guide may be determined from other references.

In FIG. 6A, the chain 72 is configured to interact with a smallestsprocket F1 of the front sprocket assembly 34, and with a smallestsprocket R10 of the rear sprocket assembly 40. This chain configurationresults in a particular angle of the chain guide 211A. FIG. 6B showsthat the chain is configured to interact with the smallest sprocket F1of the front sprocket assembly 34, and a second smallest R9 sprocket ofthe rear sprocket assembly 40, which will result in a different angle ofthe chain guide 211B, which is different than the angle of the chainguide 211A in FIG. 6A. As such, a signal indicating an angle of thechain guide provided by an angle sensor as described herein may be usedto determine the specific chain configuration (e.g. F1-R10 or F1-R9), ora change in a chain configuration (e.g. F1-R10 to F1-R9). FIG. 6C showsthe chain 72 configured to interact with a different sprocket F2 of thefront sprocket assembly 34, and with the second smallest sprocket R9 ofthe rear sprocket assembly 40. This chain 72 configuration results inanother angle of the chain guide 211C, which is distinct from the angleof the chain guide of FIG. 6A 211A, and the angle of the chain guide211B of FIG. 6B. FIG. 6D shows the chain 72 configured to interact withthe different sprocket F2 of the front sprocket assembly 34, and withthe largest sprocket R1 of the rear sprocket assembly 40. This chain 72configuration results in another angle of the chain guide 211D, which isdistinct from the angle of the chain guide 211A of FIG. 6A, the angle ofthe chain guide 211B of FIG. 6B, and the angle of the chain guide 211Cof FIG. 6C. In this way, any particular orientation of the chain amongfront and rear sprockets may be determined based on a signal indicatingthe angle of the chain guide.

Table 1 provides approximate angles of rotation 211 for a chain guidefor an example drivetrain for different configurations of front and rearcogs (e.g F1, F2 and R1-R10 of FIG. 2). In this example, the angles areindicated in degrees, and the number of teeth of each particular cog isindicated in parenthesis.

TABLE 1 REAR COG F1 (36) F2 (52) R1 (11) 111°  164° R2 (12) 90° 139° R3(13) 80° 129° R4 (14) 71° 120° R5 (15) 64° 115° R6 (17) 57° 109° R7 (19)53° 106° R8 (22) 49° 102° R9 (25) 44°  99° R10 (32) 40°  96°

As can be seen from Table 1, different combinations of front and rearcogs will yield distinct and detectable angle values of the chain guide.As such, a signal generated by a sensor configured to detect theseangles may be indicative of the particular combination of front and rearcogs that are engaged by the chain.

A change in a signal indicating the orientation and/or angle of thechain guide may also, or alternatively, be detected, which may indicatea configurations, or change in a configuration, of a chain with thesprockets. For example, as the chain 72 moves from the a sprocket R10 asshown in FIG. 6A, to another sprocket R9 as shown in FIG. 6B, the signalindicating the orientation and/or angle of the chain guide will changeas a result of the 4 degrees angle change. Such a change can be detectedand used to trigger actions and/or other activities. Further, in anembodiment, the change in the signal may be a value, and this value maybe compared to a change threshold to determine if the change shouldtrigger actions and/or other activities. The threshold may be equivalentto an angle, such as 0.5 degrees, or based on an output signal, such asa voltage or coded value, provided by the sensor 200 to indicate theangular change. Further, the change may meet the threshold for apre-determined time, such as 500 ms, prior to triggering actions and/orother activities. Such thresholds may aid in avoiding errored angularreadings do to sensor and/or system noise.

FIG. 7 illustrates a flow chart for a method of controlling bicyclecomponents with an orientation and/or angle sensor, such as sensorsconfigured as described herein. The acts may be performed using anycombination of the components indicated in FIG. 12. For example thefollowing acts may be performed by a processor 20. Additional,different, or fewer acts may be provided. The acts are performed in theorder shown or other orders. For example act 410 and act 420 may beperformed concurrently and/or alternatively. The acts may also berepeated.

In act 410, an orientation is determined. The orientation may be anyorientation of a tensioner in contact with a chain engaged with adrivetrain of a bicycle. For example, the tensioner may be a tensionerintegrated with a front or rear derailleur of the bicycle, as isdescribed with respect to FIGS. 3 and 4. The orientation may be anyorientation indicative of a configuration of the chain. For example, theorientation may be a rotated angle of the tensioner, relative to areference plane. Such an orientation and/or angle may be determinedand/or implied as a determined position of a tensioner chain contactthat is configured to interface with, and/or maintain a tension in, thechain. The orientation may be determined using any technique. Forexample, the orientation may be determined with an angle sensorconfigured to determine an angle of a chain guide, as is describedherein.

In act 420, a change in the orientation is detected. The change may beany change in orientation of the tensioner. For example, the angle of achain guide including the tensioner may change relative to a reference.The change in orientation may be determined using any technique. Forexample, the change in orientation may be determined with an anglesensor configured to determine an angle of a chain guide, as isdescribed herein.

In act 430, an action is determined. The action may be determined inresponse to the determined orientation and/or detected change inorientation. The action may be any action. For example, the action maybe a shift action of a bicycle drivetrain control system.

In act 440, the action is communicated. The action may be communicatedto components that will enact the action. For example, a shift actiondetermined in response to the determined orientation and/or detectedchange in orientation may be communicated to a gear changer, such as afront and/or rear derailleur. In an embodiment, the action iscommunicated as a control signal to one or more electric motors, such aselectric motors providing the motive force for the front and/or rearderailleur.

FIGS. 8-11 illustrate flow charts for methods that include actions takenin response to determined orientations and/or detected changes inorientations. The acts may be performed using any combination of thecomponents indicated in FIG. 12. For example the acts may be performedby a processor 20. Additional, different, or fewer acts may be provided.The acts are performed in the order shown or other orders. The acts mayalso be repeated.

FIG. 8 illustrates a method for executing a shift command. The shiftcommand is received at a rear derailleur (Block 502). An initialposition of the rear derailleur is determined (Block 504), for exampleusing the angle sensor described with respect to FIG. 5. The initialposition may be determined using other techniques as well. For example,the current position may be electronically stored as a value in a tableor array, and this value may be referenced.

The shift command is interpreted to be either a downshift or an upshift.If an upshift command is received, it is determined whether the initialposition indicates that the chain is engaged with the smallest cog(Block 508) (e.g. RD=10 as a stored value). If the smallest cog iscurrently engaged, then the command is disregarded. If the smallest cogis not currently engaged, the cage or chain guide position of the rearderailleur may be checked, or determined (Block 510). The shift actionmay be executed by the rear derailleur, and a value for the rearderailleur position may be incremented (Block 512). A verification thatthe shift action was successfully executed may be accomplished bydetecting and/or determining a different changed cage or chain guideposition (Block 514). This may be enacted through a detection of achange from the cage or chain guide position determined prior to theexecuted shift action, such as by a signal provided by the angle sensoras described herein. If the shift action is not successfully completed,the action may be re-executed by the rear derailleur, and theverification may be repeated. This sequence may be repeated until asuccessfully executed shift action is verified.

If a downshift command is received, it is determined whether the initialposition indicates that the chain is engaged with the largest cog (Block518) (e.g. RD=1 as a stored value). If the largest cog is currentlyengaged, then the command is disregarded. If the largest cog is notcurrently engaged, the cage or chain guide position of the rearderailleur may be checked, or determined (Block 520). The shift actionmay be executed by the rear derailleur, and a value for the rearderailleur position may be adjusted accordingly (Block 522). Averification that the shift action was successfully executed may beaccomplished by detecting and/or determining a different changed cage orchain guide position (Block 524). This may be enacted through adetection of a change from the cage or chain guide position determinedprior to the executed shift action, such as by a signal provided by theangle sensor described above. If the shift action is not successfullycompleted, the action may be re-executed by the rear derailleur, and theverification may be repeated. This sequence may be repeated until asuccessfully executed shift action is verified.

FIG. 9 illustrates another method for executing a shift command. In thisembodiment, a shift action of the front derailleur may be verified usinga sensor disposed within the rear derailleur. The shift command isreceived at a front derailleur (Block 532). An initial position of thefront derailleur is determined (Block 534), for example using the anglesensor described with respect to FIG. 5. The initial position may bedetermined using other techniques as well. For example, the currentposition may be electronically stored as a value in a table or array,and this value may be referenced.

The shift command is interpreted to be either a downshift or an upshift.If an upshift command is received, it is determined whether the initialposition indicates that the chain is engaged with the largest cog (Block538) (e.g. FD=2 as a stored value). If the largest cog is currentlyengaged, then the command is disregarded. If the largest cog is notcurrently engaged, the cage or chain guide position of the rearderailleur may be checked, or determined (Block 540). The shift actionmay be executed by the front derailleur, and a value for the frontderailleur position may be incremented (Block 542). In this embodiment,the value for the front derailleur position may include a verificationcoding. For example, an “A” suffix on the value may indicate anunverified value, whereas a “B” suffix on the value may indicate averified value. The verification that the shift action was successfullyexecuted may be accomplished by detecting and/or determining a differentchanged cage or chain guide position (Block 544). This may be enactedthrough a detection of a change from the rear derailleur cage or chainguide position determined prior to the executed shift action, such as bya signal provided by the angle sensor described above. If the shiftaction is not successfully completed, the action may be re-executed bythe front derailleur, and the verification may be repeated. Thissequence may be repeated until a successfully executed shift action isverified. When a successfully executed shift action is verified, thefront derailleur value may be modified to indicate a verified value(Block 546).

If a downshift command is received, it is determined whether the initialposition indicates that the chain is engaged with the smallest cog(Block 548) (e.g. RD=1 as a stored value). If the smallest cog iscurrently engaged, then the command is disregarded. If the smallest cogis not currently engaged, the cage or chain guide position of the rearderailleur may be checked, or determined (Block 550). The shift actionmay be executed by the front derailleur, and a value for the frontderailleur position may be adjusted accordingly to indicate anunverified value (Block 552). A verification that the shift action wassuccessfully executed may be accomplished by detecting and/ordetermining a different changed rear cage or chain guide position (Block554). This may be enacted through a detection of a change from the cageor chain guide position determined prior to the executed shift action ofthe front derailleur, such as by a signal provided by the angle sensordescribed above. If the shift action is not successfully completed, theaction may be re-executed by the front derailleur, and the verificationmay be repeated. This sequence may be repeated until a successfullyexecuted shift action is verified. When a successfully executed shiftaction is verified, the front derailleur value may be modified toindicate a verified value (Block 556). For example, the front derailleurvalue may be modified to include a character designating a verifiedvalue, such as “B”. Also, or alternatively, front derailleur positionsmay be verified by detecting and/or determining a different changed rearcage or chain guide position, as is described above.

In an embodiment, once a shift action is verified (Block 544 and/orBlock 554), the front and/or rear derailleurs may be moved to acompleted shift action position from an “overshift” or “undershift”position. For example, a shift action may be enacted by causing thefront and/or rear derailleurs to move to overshift positions in whichthe respective derailleur is moved slightly beyond a typical operationalposition for the desired gearing combination. Similarly, the frontand/or rear derailleurs to move to undershift positions in which therespective derailleur is moved short of a typical operational positionfor the desired gearing combination. Such a position being between thestarting position and the typical operational position for the desiredgearing combination. Once the shift action is verified the respectivederailleurs may be moved to a completed shift action position, such as atypical operational position for the desired gearing combination.Movement to such overshift and/or undershift positions may aid inachieving a successful shift operation, and triggering movement tocompleted shift action positions based on verified cage or chain guideposition can allow for smoother and more efficient gearing transitions.

FIG. 10 illustrates another method for executing a shift command. Inthis embodiment, a shift action of the rear derailleur may be verifiedand other components may be controlled based on a signal from a sensordisposed within the rear derailleur. The controlled component may be anelectric motor, for example an electric drive motor for an electricallypowered bicycle. In such electrically powered bicycles, it may be usefulto reduce an input power and/or torque to the drivetrain during a shiftaction. The sensor disposed within the rear derailleur may be used toaccomplish this, and other, power reductions.

The shift command is received at a rear derailleur (Block 562). Aninitial position of the rear derailleur is determined (Block 564), forexample using the angle sensor described with respect to FIG. 5. Theinitial position may be determined using other techniques as well. Forexample, the current position may be electronically stored as a value ina table or array, and this value may be referenced.

The shift command is interpreted to be either a downshift or an upshift.If an upshift command is received, it is determined whether the initialposition indicates that the chain is engaged with the smallest cog(Block 568) (e.g. RD=10 as a stored value). If the smallest cog iscurrently engaged, then the command is disregarded. If the smallest cogis not currently engaged, the cage or chain guide position of the rearderailleur may be checked, or determined (Block 570). Power to acomponent, for example a drive motor for an electrically poweredbicycle, may be restricted, reduced, removed, and/or otherwise adjusted(Block 571). The shift action may be executed by the rear derailleur,and a value for the rear derailleur position may be incremented (Block572). A verification that the shift action was successfully executed maybe accomplished by detecting and/or determining a different changed cageor chain guide position (Block 574). This may be enacted through adetection of a change from the cage or chain guide position determinedprior to the executed shift action, such as by a signal provided by theangle sensor described above. If the shift action is not successfullycompleted, the action may be re-executed by the rear derailleur, and theverification may be repeated. This sequence may be repeated until asuccessfully executed shift action is verified. If a successfullyexecuted shift action is verified, power levels to the component may berestored (Block 576) as triggered by, or based on, the verification.

If a downshift command is received, it is determined whether the initialposition indicates that the chain is engaged with the largest cog (Block578) (e.g. RD=1 as a stored value). If the largest cog is currentlyengaged, then the command is disregarded. If the largest cog is notcurrently engaged, the cage or chain guide position of the rearderailleur may be checked, or determined (Block 580). Power to acomponent, for example a drive motor for an electrically poweredbicycle, may be restricted, reduced, removed, and/or otherwise adjusted(Block 581). The shift action may be executed by the rear derailleur,and a value for the rear derailleur position may be adjusted accordingly(Block 582). A verification that the shift action was successfullyexecuted may be accomplished by detecting and/or determining a differentchanged cage or chain guide position (Block 584). This may be enactedthrough a detection of a change from the cage or chain guide positiondetermined prior to the executed shift action, such as by a signalprovided by the angle sensor described above. If the shift action is notsuccessfully completed, the action may be re-executed by the rearderailleur, and the verification may be repeated. This sequence may berepeated until a successfully executed shift action is verified. If asuccessfully executed shift action is verified, power levels to thecomponent may be restored (Block 586) as triggered by, or based on, theverification.

FIG. 11 illustrates another method for executing a shift command. Inthis embodiment, a shift action of the rear derailleur may be verifiedand other components may be controlled based on a signal from a sensordisposed within the rear derailleur. The controlled component may be anelectronically controlled derailleur damper, for example a derailleurmovement resisting device as described in U.S. Pat. No. 8,602,929. Insuch electronically controlled damper derailleurs, it may be useful toreduce dampening during a shift action, then resume dampening levelsafter a shift action. The sensor disposed within the rear derailleur maybe used to accomplish this, and other, dampening actions.

The shift command is received at a rear derailleur (Block 602). Aninitial position of the rear derailleur is determined (Block 603), forexample using the angle sensor described with respect to FIG. 5. Theinitial position may be determined using other techniques as well. Forexample, the current position may be electronically stored as a value ina table or array, and this value may be referenced.

The shift command is interpreted to be either a downshift or an upshift.If an upshift command is received, it is determined whether the initialposition indicates that the chain is engaged with the smallest cog(Block 604) (e.g. RD=10 as a stored value). If the smallest cog iscurrently engaged, then the command is disregarded. If the smallest cogis not currently engaged, the cage or chain guide position of the rearderailleur may be checked, or determined (Block 610). Dampening forcesof a damper may be restricted, reduced, removed, and/or otherwiseadjusted (Block 611). The shift action may be executed by the rearderailleur, and a value for the rear derailleur position may beincremented (Block 612). A verification that the shift action wassuccessfully executed may be accomplished by detecting and/ordetermining a different changed cage or chain guide position (Block614). This may be enacted through a detection of a change from the cageor chain guide position determined prior to the executed shift action,such as by a signal provided by the angle sensor described above. If theshift action is not successfully completed, the action may bere-executed by the rear derailleur, and the verification may berepeated. This sequence may be repeated until a successfully executedshift action is verified. If a successfully executed dampening levels ofthe component may be restored or otherwise adjusted (Block 616) astriggered by, or based on, the verification.

If a downshift command is received, it is determined whether the initialposition indicates that the chain is engaged with the largest cog 618(e.g. RD=1 as a stored value). If the largest cog is currently engaged,then the command is disregarded. If the largest cog is not currentlyengaged, the cage or chain guide position of the rear derailleur may bechecked, or determined (Block 620). Dampening forces of a damper may berestricted, reduced, removed, and/or otherwise adjusted (Block 621). Theshift action may be executed by the rear derailleur, and a value for therear derailleur position may be adjusted accordingly (Block 622). Averification that the shift action was successfully executed may beaccomplished by detecting and/or determining a different changed cage orchain guide position (Block 624). This may be enacted through adetection of a change from the cage or chain guide position determinedprior to the executed shift action, such as by a signal provided by theangle sensor described above. If the shift action is not successfullycompleted, the action may be re-executed by the rear derailleur, and theverification may be repeated. This sequence may be repeated until asuccessfully executed shift action is verified. If a successfullyexecuted dampening levels of the component may be restored or otherwiseadjusted (Block 626) as triggered by, or based on, the verification.

In an embodiment, a gear change mechanism for a bicycle operated with aplurality of sprockets driven by a chain includes a base memberconfigured for mounting to the bicycle, a link mechanism pivotablyconnected to the base member, a moveable member pivotably mounted to thelink mechanism such that the moveable member is movable in an axialdirection relative to the base member, a chain guide configured toengage and guide the chain, and a sensor configured to determine anangle of the chain guide relative to the moveable member. In thisembodiment, the chain guide may include a pivot member rotatably mountedto the moveable member and configured to rotate about a first axis ofrotation, a first wheel configured to interface with the chain androtate about a second axis of rotation, and a positioning memberextending between and connecting the pivot member and the first wheel.In an embodiment, the positioning member may be rigidly connected to thepivot member. In an embodiment the chain guide may include a secondwheel configured to interface with the chain and rotate about a thirdaxis of rotation. In an embodiment, the third axis of rotation is thesame as the first axis of rotation. In an embodiment, the sensor isconfigured to determine an angle of rotation of the pivot member aboutthe first axis of rotation. In an embodiment, the sensor is configuredto detect an angular position of a magnet. In an embodiment, the sensoris a magnetic rotary encoder. In an embodiment, the sensor is mounted onthe moveable member or the pivot member. In an embodiment, the magnet isdisposed on the other of the pivot member or the movable member. In anembodiment, the magnet is disposed on an end of the pivot member. In anembodiment the chain guide includes a biasing device coupled with thechain guide and configured to maintain a tension in the chain. In anembodiment, the biasing device is fixably attached to the moveablemember and the chain guide. In an embodiment, the gear change mechanismincludes a processor in operative communication with the sensor, whereinthe sensor is further configured to communicate a signal indicative ofthe angle. In an embodiment, the gear change mechanism includes a motoroperatively coupled to the link mechanism to move the movable memberalong the axial direction, and wherein the processor is configured toprovide a command signal to the motor in response to the signalindicative of the angle.

In an embodiment, a method of drivetrain management for a bicycle drivenby a chain operating over a plurality of sprockets, involvesdetermining, with a sensor, an angle of a tensioner chain contact, thetensioner chain contact configured to maintain a tension in the chain,and detecting, by a processor in communication with the sensor, a changein the angle of the tensioner chain contact. In an embodiment, thetensioner chain contact is a tensioner wheel having a center disposed adistance from a pivot member having a first axis of rotation, thetensioner wheel being configured to rotate about the first axis ofrotation and a second axis of rotation to interface with the chain so asto maintain a tension in the chain. In an embodiment, the tensionerwheel is connected to the pivot member with a rigid member, and thedetermining the angle of the tensioner wheel comprises measuring, withthe sensor, a rotational orientation of the pivot member. In anembodiment, the measuring the rotational orientation of the pivot memberinvolves measuring a rotational orientation of a magnet attached to thepivot member. In an embodiment, the measuring the rotational orientationof the magnet attached to the pivot member involves measuring arotational orientation of the magnet attached to a distal end of thepivot member. In an embodiment, a method involves communicating, by theprocessor, a control signal to an electric motor in response to thedetecting the change in the position of the tensioner chain contact.

In an embodiment, a chain tensioner for a bicycle operated with aplurality of sprockets driven by a chain includes a tensioner mountconfigured to be attached to a bicycle, a pivot member rotatably mountedto the tensioner mount and configured to rotate about an axis ofrotation, and a chain interface structure, such as a chain guide. Thechain interface structure may include a chain interface component, suchas a wheel, and a positioning member extending between and connectingthe pivot member and the chain interface component. The chain tensionermay also include a biasing device coupled with the chain interfacecomponent and configured to maintain a tension in the chain, and asensor configured to determine an angle of the chain interface structurerelative to the tensioner mount. In an embodiment the chain interfacecomponent is a first wheel configured to rotate about a second axis ofrotation, and the chain tensioner structure may also include a secondwheel configured to interface with the chain and rotate about a thirdaxis of rotation. In an embodiment, the third axis of rotation is thesame as the first axis of rotation. In an embodiment, the sensor isconfigured to determine an angle of rotation of the pivot member aboutthe first axis of rotation. In an embodiment, the sensor is configuredto detect an angular position of a magnet. In an embodiment, the sensoris a magnetic rotary encoder. In an embodiment, the sensor is mounted onthe tensioner mount or the pivot member. In an embodiment, the magnet isdisposed on the other of the pivot member or the tensioner mount. In anembodiment, the magnet is disposed on an end of the pivot member. In anembodiment the biasing device is fixably attached to the tensioner mountand the chain tensioner structure. In an embodiment, a gear changemechanism includes a processor in operative communication with thesensor, wherein the sensor is further configured to communicate a signalindicative of the angle. In an embodiment, the gear change mechanismincludes a motor operatively coupled to the link mechanism to move themovable member along the axial direction, and wherein the processor isconfigured to provide a command signal to the motor in response to thesignal indicative of the angle.

FIG. 12 is a block diagram of an exemplary control system 40 for abicycle. The control system 40 may be used alone to communicate with andcontrol bicycle components, or the control system 40 may be used inconjunction with at least one other control system for components of thebicycle, such as a primary control system that may include alternativecontrol devices such as brake lever housing integrated shiftcontrollers. The system 40 includes at least one control unit 28. Thecontrol unit 28 includes a processor 20, a memory 10, componentcommunication interface 80, a user interface 82, a power supply 84, anda control device interface 90. Additional, different, or fewercomponents are possible for the control unit 28. For example, the userinterface 82 may not be included in a control unit 28. Also, componentsmay be combined. For example, in an embodiment the communicationinterface 80 and the control device interface 90 may be combined. Inthis embodiment shift units 26 and sensor(s) 200 may communicate using asame interface, which may be the control device interface 90 or thecommunication interface 80. In an embodiment, the control unit 28 andsensor(s) 200 are integrated with a rear derailleur 36, for example asis described with respect to FIGS. 3 and 4.

The processor 20 may include a general processor, digital signalprocessor, an application specific integrated circuit (ASIC), fieldprogrammable gate array (FPGA), analog circuit, digital circuit,combinations thereof, or other now known or later developed processor.The processor 20 may be a single device or combinations of devices, suchas through shared or parallel processing.

The memory 10 may be a volatile memory or a non-volatile memory. Thememory 10 may include one or more of a read only memory (ROM), randomaccess memory (RAM), a flash memory, an electronic erasable program readonly memory (EEPROM), or other type of memory. The memory 10 may beremovable from the control unit 28, such as a secure digital (SD) memorycard. In a particular non-limiting, exemplary embodiment, acomputer-readable medium can include a solid-state memory such as amemory card or other package that houses one or more non-volatileread-only memories. Further, the computer-readable medium can be arandom access memory or other volatile re-writable memory. Additionally,the computer-readable medium can include a magneto-optical or opticalmedium, such as a disk or tapes or other storage device. Accordingly,the disclosure is considered to include any one or more of acomputer-readable medium and other equivalents and successor media, inwhich data or instructions may be stored.

The memory 10 is a non-transitory computer-readable medium and isdescribed to be a single medium. However, the term “computer-readablemedium” includes a single medium or multiple media, such as acentralized or distributed memory structure, and/or associated cachesthat are operable to store one or more sets of instructions and otherdata. The term “computer-readable medium” shall also include any mediumthat is capable of storing, encoding or carrying a set of instructionsfor execution by a processor or that cause a computer system to performany one or more of the methods or operations disclosed herein.

In an alternative embodiment, dedicated hardware implementations, suchas application specific integrated circuits, programmable logic arraysand other hardware devices, can be constructed to implement one or moreof the methods described herein. Applications that may include theapparatus and systems of various embodiments can broadly include avariety of electronic and computer systems. One or more embodimentsdescribed herein may implement functions using two or more specificinterconnected hardware modules or devices with related control and datasignals that can be communicated between and through the modules, or asportions of an application-specific integrated circuit. Accordingly, thepresent system encompasses software, firmware, and hardwareimplementations.

The power supply 84 is a portable power supply, which may be storedinternal to the control unit 28, or stored external to the control unit28 and communicated to the control unit 28 through a power conductivecable. The power supply may involve the generation of electric power,for example using a mechanical power generator, a fuel cell device,photo-voltaic cells, or other power generating devices. The power supplymay include a battery such as a device consisting of two or moreelectrochemical cells that convert stored chemical energy intoelectrical energy. The power supply 84 may include a combination ofmultiple batteries or other power providing devices. Specially fitted orconfigured battery types, or standard battery types such as CR 2012, CR2016, and/or CR 2032 may be used.

The communication interface 80 provides for data and/or signalcommunication from one or more sensors 200 to the control unit 28. Thecommunication interface 80 communicates using wired and/or wirelesscommunication techniques. For example, the communication interface 80communicates with the sensors 200 using a system bus, or othercommunication technique.

The user interface 82 may be one or more buttons, keypad, keyboard,mouse, stylus pen, trackball, rocker switch, touch pad, voicerecognition circuit, or other device or component for communicating databetween a user and the control unit 28. The user interface 82 may be atouch screen, which may be capacitive or resistive. The user interface82 may include a liquid crystal display (“LCD”) panel, light emittingdiode (“LED”), LED screen, thin film transistor screen, or another typeof display. The user interface 82 may also include audio capabilities,or speakers.

In an embodiment, the user interface 82 includes one or more buttons andan LED indicator. The buttons are used to communicate commands to thecontrol unit 28, and the LED indicator lights to indicate input of thecommands or other actions.

The control device interface 90 is configured to send and/or receivedata such as control signals and/or commands to and/or from bicyclecomponents such as the front gear changer 30 and/or the shift units 26.The component control device interface 90 communicates the data usingany operable connection. An operable connection may be one in whichsignals, physical communications, and/or logical communications may besent and/or received. An operable connection may include a physicalinterface, an electrical interface, and/or a data interface. The controldevice interface 90 provides for wireless communications in any nowknown or later developed format. Although the present specificationdescribes components and functions that may be implemented in particularembodiments with reference to particular standards and protocols, theinvention is not limited to such standards and protocols. For example,standards for Internet and other packet switched network transmission(e.g., TCP/IP, UDP/IP, HTML, HTTP, HTTPS) represent examples of thestate of the art. Such standards are periodically superseded by fasteror more efficient equivalents having essentially the same functions.Accordingly, replacement standards and protocols having the same orsimilar functions as those disclosed herein are considered equivalentsthereof.

In accordance with various embodiments of the present disclosure, themethods described herein may be implemented with software programsexecutable by a computer system, such as the control unit 28. Further,in an exemplary, non-limited embodiment, implementations can includedistributed processing, component/object distributed processing, andparallel processing. Alternatively, virtual computer system processingcan be constructed to implement one or more of the methods orfunctionality as described herein.

A computer program (also known as a program, software, softwareapplication, script, or code) can be written in any form of programminglanguage, including compiled or interpreted languages, and it can bedeployed in any form, including as a standalone program or as a module,component, subroutine, or other unit suitable for use in a computingenvironment. A computer program does not necessarily correspond to afile in a file system. A program can be stored in a portion of a filethat holds other programs or data (e.g., one or more scripts stored in amarkup language document), in a single file dedicated to the program inquestion, or in multiple coordinated files (e.g., files that store oneor more modules, sub programs, or portions of code). A computer programcan be deployed to be executed on one computer or on multiple computersthat are located at one site or distributed across multiple sites andinterconnected by a communication network.

The processes and logic flows described in this specification can beperformed by one or more programmable processors executing one or morecomputer programs to perform functions by operating on input data andgenerating output. The processes and logic flows can also be performedby, and apparatus can also be implemented as, special purpose logiccircuitry, e.g., an FPGA (field programmable gate array) or an ASIC(application specific integrated circuit).

As used in this application, the term ‘circuitry’ or ‘circuit’ refers toall of the following: (a) hardware-only circuit implementations (such asimplementations in only analog and/or digital circuitry) and (b) tocombinations of circuits and software (and/or firmware), such as (asapplicable): (i) to a combination of processor(s) or (ii) to portions ofprocessor(s)/software (including digital signal processor(s)), software,and memory(ies) that work together to cause an apparatus, such as amobile phone or server, to perform various functions) and (c) tocircuits, such as a microprocessor(s) or a portion of amicroprocessor(s), that require software or firmware for operation, evenif the software or firmware is not physically present.

This definition of ‘circuitry’ applies to all uses of this term in thisapplication, including in any claims. As a further example, as used inthis application, the term “circuitry” would also cover animplementation of merely a processor (or multiple processors) or portionof a processor and its (or their) accompanying software and/or firmware.The term “circuitry” would also cover, for example and if applicable tothe particular claim element, a baseband integrated circuit orapplications processor integrated circuit for a mobile computing deviceor a similar integrated circuit in server, a cellular network device, orother network device.

Processors suitable for the execution of a computer program include, byway of example, both general and special purpose microprocessors, andany one or more processors of any kind of digital computer. Generally, aprocessor receives instructions and data from a read only memory or arandom access memory or both. The essential elements of a computer are aprocessor for performing instructions and one or more memory devices forstoring instructions and data. Generally, a computer also includes, orbe operatively coupled to receive data from or transfer data to, orboth, one or more mass storage devices for storing data, e.g., magnetic,magneto optical disks, or optical disks. However, a computer need nothave such devices. Moreover, a computer can be embedded in anotherdevice, e.g., a mobile telephone, a personal digital assistant (PDA), amobile audio player, a Global Positioning System (GPS) receiver, or acontrol unit 28 to name just a few. Computer readable media suitable forstoring computer program instructions and data include all forms ofnon-volatile memory, media and memory devices, including by way ofexample semiconductor memory devices, e.g., EPROM, EEPROM, and flashmemory devices; magnetic disks, e.g., internal hard disks or removabledisks; magneto optical disks; and CD ROM and DVD-ROM disks. Theprocessor and the memory can be supplemented by, or incorporated in,special purpose logic circuitry.

The illustrations of the embodiments described herein are intended toprovide a general understanding of the structure of the variousembodiments. The illustrations are not intended to serve as a completedescription of all of the elements and features of apparatus and systemsthat utilize the structures or methods described herein. Many otherembodiments may be apparent to those of skill in the art upon reviewingthe disclosure. Other embodiments may be utilized and derived from thedisclosure, such that structural and logical substitutions and changesmay be made without departing from the scope of the disclosure.Additionally, the illustrations are merely representational and may notbe drawn to scale. Certain proportions within the illustrations may beexaggerated, while other proportions may be minimized. Accordingly, thedisclosure and the figures are to be regarded as illustrative ratherthan restrictive.

While this specification contains many specifics, these should not beconstrued as limitations on the scope of the invention or of what may beclaimed, but rather as descriptions of features specific to particularembodiments of the invention. Certain features that are described inthis specification in the context of separate embodiments can also beimplemented in combination in a single embodiment. Conversely, variousfeatures that are described in the context of a single embodiment canalso be implemented in multiple embodiments separately or in anysuitable sub-combination. Moreover, although features may be describedabove as acting in certain combinations and even initially claimed assuch, one or more features from a claimed combination can in some casesbe excised from the combination, and the claimed combination may bedirected to a sub-combination or variation of a sub-combination.

Similarly, while operations and/or acts are depicted in the drawings anddescribed herein in a particular order, this should not be understood asrequiring that such operations be performed in the particular ordershown or in sequential order, or that all illustrated operations beperformed, to achieve desirable results. In certain circumstances,multitasking and parallel processing may be advantageous. Moreover, theseparation of various system components in the embodiments describedabove should not be understood as requiring such separation in allembodiments, and it should be understood that any described programcomponents and systems can generally be integrated together in a singlesoftware product or packaged into multiple software products.

One or more embodiments of the disclosure may be referred to herein,individually and/or collectively, by the term “invention” merely forconvenience and without intending to voluntarily limit the scope of thisapplication to any particular invention or inventive concept. Moreover,although specific embodiments have been illustrated and describedherein, it should be appreciated that any subsequent arrangementdesigned to achieve the same or similar purpose may be substituted forthe specific embodiments shown. This disclosure is intended to cover anyand all subsequent adaptations or variations of various embodiments.Combinations of the above embodiments, and other embodiments notspecifically described herein, are apparent to those of skill in the artupon reviewing the description.

The Abstract of the Disclosure is provided to comply with 37 C.F.R. §1.72(b) and is submitted with the understanding that it will not be usedto interpret or limit the scope or meaning of the claims. In addition,in the foregoing Detailed Description, various features may be groupedtogether or described in a single embodiment for the purpose ofstreamlining the disclosure. This disclosure is not to be interpreted asreflecting an intention that the claimed embodiments require morefeatures than are expressly recited in each claim. Rather, as thefollowing claims reflect, inventive subject matter may be directed toless than all of the features of any of the disclosed embodiments. Thus,the following claims are incorporated into the Detailed Description,with each claim standing on its own as defining separately claimedsubject matter.

It is intended that the foregoing detailed description be regarded asillustrative rather than limiting and that it is understood that thefollowing claims including all equivalents are intended to define thescope of the invention. The claims should not be read as limited to thedescribed order or elements unless stated to that effect. Therefore, allembodiments that come within the scope and spirit of the followingclaims and equivalents thereto are claimed as the invention.

What is claimed is:
 1. A method of controlling a component of a bicyclehaving a plurality of gears engageable by a roller chain, the methodcomprising: receiving, by a processor, an instruction for an action bythe component; determining, by the processor, an orientation of a chaintensioner cage; establishing, by the processor, an engaged gear of theplurality of gears based on the orientation; detecting, by the processorwith the sensor, a change of the orientation of the chain tensioner cageto a different orientation; comparing, by the processor, the differentorientation to a collection of orientations; determining, by theprocessor, a newly engaged gear of the plurality of gears based on thecomparing; and causing, by the processor, the component to perform theaction in response to the determining the newly engaged gear.
 2. Themethod of claim 1, wherein the component is a drive motor providinginput power for the bicycle.
 3. The method of claim 2, wherein theaction comprises changing the input power for the bicycle.
 4. The methodof claim 3, further comprising causing the drive motor to decrease theinput power.
 5. The method of claim 1, wherein the action is a movementof a moveable member of a rear derailleur.
 6. The method of claim 1,wherein the action comprises a change in damping of an electronicallycontrolled rear derailleur damper.
 7. A control system for a bicyclehaving a plurality of components, the control system comprising: amemory configured to store a collection of orientations associated withgears of a plurality of gears; a sensor operable to provide a signalindicating an orientation of a bicycle chain tensioner; a processor, incommunication with the sensor, configured to: compare an indicatedorientation with the collection of orientations and verify that a gearchange has occurred, and cause a component of the bicycle to take anaction when a gear change is verified.
 8. The control system of claim 7,wherein the sensor is disposed on a rear derailleur of the bicycle. 9.The control system of claim 8, wherein the rear derailleur comprises: abase member configured for mounting to the bicycle; a link mechanismpivotably connected to the base member; a moveable member pivotablymounted to the link mechanism such that the moveable member is movablein an axial direction relative to the base member a pivot memberrotatably mounted to the moveable member and configured to rotate abouta first axis of rotation; a first wheel configured to interface with thechain and rotate about a second axis of rotation; and a positioningmember extending between and connecting the pivot member and the firstwheel.
 10. The control system of claim 9, wherein the sensor isconfigured to determine an angle of rotation of the pivot member aboutthe first axis of rotation.
 11. The control system of claim 10, whereinthe sensor is mounted on the moveable member or the pivot member. 12.The control system of claim 8, further comprising a drive motorproviding input power for the bicycle.
 13. The control system of claim12, wherein the action comprises changing the input power for thebicycle.
 14. The control system of claim 8, wherein the action is anoperation of a gear change motor to cause a movement of a moveablemember of a rear derailleur of the bicycle.
 15. The control system ofclaim 8, wherein the action comprises a change in damping of anelectronically controlled rear derailleur damper.
 16. A bicyclecomponent including a non-transitory computer readable medium includinginstructions that when executed are operable to cause a processor to:determine an orientation of a chain tensioner cage based on a sensorsignal; establish an engaged gear of a plurality of gears based on theorientation; detect a change of the orientation of the chain tensionercage to a different orientation using the sensor; compare the differentorientation to a collection of orientations; determine a newly engagedgear of the plurality of gears based on the comparing; and cause thecomponent to perform the action in response to the determination thatthere is a newly engaged gear.
 17. The bicycle component of claim 16,wherein the action is a movement of a moveable member of a rearderailleur.
 18. The bicycle component of claim 16, wherein the actioncomprises a change in damping of an electronically controlled rearderailleur damper.